#!/bin/sh
#
# @name UVify Draco
#
# @type Quadrotor x
# @class Copter
#
# @output MAIN1 motor 1
# @output MAIN2 motor 2
# @output MAIN3 motor 3
# @output MAIN4 motor 4
#
# @board px4_fmu-v2 exclude
# @board px4_fmu-v3 exclude
# @board px4_fmu-v4pro exclude
# @board px4_fmu-v5 exclude
# @board px4_fmu-v5x exclude
# @board intel_aerofc-v1 exclude
#
# @maintainer Hyon Lim <lim@uvify.com>
#

set VEHICLE_TYPE mc
set MIXER quad_x
set PWM_OUT 1234

if [ $AUTOCNF = yes ]
then
	# Attitude & rate gains
	param set MC_ROLL_P 7.00000
	param set MC_ROLLRATE_P 0.15000
	param set MC_ROLLRATE_I 0.90000
	param set MC_ROLLRATE_D 0.00130

	param set MC_PITCH_P 7.00000
	param set MC_PITCHRATE_P 0.15000
	param set MC_PITCHRATE_I 1.10000
	param set MC_PITCHRATE_D 0.00160

	param set MC_YAW_P 2.8
	param set MC_YAWRATE_P 0.2
	param set MC_YAWRATE_I 0.15
	param set MC_YAWRATE_D 0.0
	param set MC_YAW_FF 0.5

	param set MC_ROLL_TC 0.19
	param set MC_PITCH_TC 0.16

	# Manual mode settings: Unleash Draco R's power :)
	param set MPC_MAN_TILT_MAX 70.00000
	param set MC_PITCHRATE_MAX 1600.00000
	param set MC_ROLLRATE_MAX 1600.00000
	param set MC_YAWRATE_MAX 700.00000
	param set MPC_MANTHR_MAX 0.90000
	param set MPC_MANTHR_MIN 0.08000
	param set MPC_MAN_TILT_MAX 35.0000
	param set MPC_TILTMAX_AIR 20.0000

	# Disable RC filtering
	param set RC_FLT_CUTOFF 0.00000

	# Filter settings
	param set MC_DTERM_CUTOFF 90.00000
	param set IMU_GYRO_CUTOFF 100.00000

	# Thrust curve (avoids the need for TPA)
	param set THR_MDL_FAC 0.25

	# System
	param set PWM_MAX 1950
	param set PWM_MIN 1100
	param set PWM_RATE 0

	param set SYS_FMU_TASK 1
	param set SENS_BOARD_ROT 2

	# Position control
	param set MPC_Z_P 1.00000
	param set MPC_Z_VEL_P 0.20000
	param set MPC_Z_VEL_I 0.02000
	param set MPC_Z_VEL_D 0.00000

	param set MPC_THR_MIN 0.06000
	param set MPC_THR_MAX 0.40000
	param set MPC_THR_HOVER 0.3000

	param set MIS_TAKEOFF_ALT 1.1000
	param set MPC_XY_P 1.7000
	param set MPC_XY_VEL_P 0.1300
	param set MPC_XY_VEL_I 0.0600
	param set MPC_XY_VEL_D 0.0100
	param set MPC_TKO_RAMP_T 1.0000
	param set MPC_TKO_SPEED 1.1000
	param set MPC_VEL_MANUAL 3.0000

	param set BAT_SOURCE 0
	param set CBRK_IO_SAFETY 22027
	param set COM_ARM_EKF_AB 0.00500
	param set COM_DISARM_LAND 3

	# Filter settings
	param set IMU_GYRO_CUTOFF 90.00000
	param set MC_DTERM_CUTOFF 70.00000

	# Don't try to be intelligent on RC loss: just cut the motors
	param set NAV_RCL_ACT 6

	# enable to use high-rate logging for better rate tracking analysis
	# param set SDLOG_PROFILE 19

	# TELEM1 ttyS1
	param set MAV_0_CONFIG 101
	param set MAV_0_MODE 2  # onboard
	param set MAV_0_RATE 20000
	param set SER_TEL1_BAUD 921600

	# TELEM2 ttyS2
	param set MAV_1_CONFIG 0
fi
